System and method to compensate for torsional disturbances in crankshafts

Abstract: A system and method compensates for systematic irregularities in measured engine velocities caused by torsional flexing in the crankshaft during rotation to improve the accuracy of misfire detection. The present invention compensates for irregularities in "Profile-Ignition-Pick-Up interval" (PIP interval) timing. These irregularities are systematic with respect to different engine cylinders. The present invention is configured to function with a processor unit. Correction factors for each of the n PIP intervals of an engine cycle are generated for each of a multitude of engine operating conditions, where n is the number of cylinders in the engine. Each set of n generated correction factor is stored in a table (a "look-up table" located in a memory unit) having a corresponding unique address location. This table is typically determined empirically in the calibration of the engine type by a test engine. The correction factors are generated while the test engine is rotated at a fixed steady state operating point with combustion, where the operating point is typically a particular speed and load.

Description: The present invention relates generally to misfire detection in internal combustion engines, and more specifically to a system and method that adjusts for systematic irregularities in measured engine velocities caused by torsional flexing of the crankshaft during rotation. One way to detect misfires in internal combustion engines is to measure crankshaft speed and observe fluctuations in speed. Detection of deviations in crankshaft velocities (as manifested by abnormal acceleration values) from expected normal crankshaft velocities is an indication of misfire. Deviations in acceleration are determined over nominally equal successive intervals of crankshaft rotation, referred to as "Profile-Ignition-Pick-Up intervals" (PIP intervals). A PIP signal is a digital signal received from a sensor, which detects specified positions of rotation of a crankshaft mounted wheel during engine rotation. PIP intervals are also known as combustion intervals, which are equal in length (but not necessarily phase) to the angular rotation between top dead centres of adjacent cylinders in the firing order. Ideally, during normal operation, an engine will produce a series of PIP transition signals whose periods indicate the average crankshaft velocity during a substantial portion of the power stroke for each of the cylinders in the engine. The crankshaft velocity will either remain constant (zero acceleration), increase (positive acceleration) or decrease (negative acceleration) depending on whether the engine is operating at steady state, accelerating or decelerating, respectively. For example, if a normal engine is operating under steady-state operation (no acceleration), then it is expected to produce an acceleration value of near zero over successive PIP intervals. However, if a particular cylinder in an engine produces a sufficiently negative value during steady-state operation, then this occurrence will be interpreted as a misfire condition, since a zero value is expected as an output for all cylinders in a normal engine during steady state operation. Accordingly, misfire detectors in general look for individual cylinders yielding acceleration values different from the local norm of all cylinders, where the local norm depends upon the operating condition (i.e., steady state, acceleration, or deceleration, etc.). The problem is that individual cylinders in normal engines tend to yield values of velocity, which differ slightly from the local norm of all cylinders in a systematic manner according to cylinder number. In a normally operating engine, this will interfere with the misfire detection system's ability to detect abnormal behaviour due to misfire. There are at least two sources of such cylinder-specific-irregularities. The first is discussed in U.S. Patent No. 5,117,681 to Dosdall et al ., incorporated herein by reference. Dosdall et al . deals with systematic irregularity arising from PIP spacing of the wheel. If the wheel which serves as the position encoder on the crankshaft is even slightly irregular in PIP-interval spacing (e.g., a few tenths of a degree difference), then a normal engine operating at constant true PIP-to-PIP velocity (steady state) will appear to be experiencing subtle velocity changes (hence, non-zero acceleration values). The velocity changes will appear to coincide with the particular cylinders associated with the irregular PIP intervals. Although the degree of impact that a given wheel error has on the acceleration calculation is strongly rpm-dependent, the error itself is fixed, and so it can be empirically determined at any operating condition, even deceleration. Dosdall et al . prefer to employ defueled coast down when sensing encoder errors. The reason is to avoid uneven acceleration during data collection, since with no fuel, all cylinders are unpowered. Application of the process specified in Dosdall et al. to coast down data yields a set of values which indicates the actual PIP-interval spacings of the wheel relative to the nominal values (i.e., assumed equal spacing). There are only n/2 unique correction values derived in this manner, since crankshaft mounted wheels typically have half as many PIP-intervals as engine cylinders (n). Each individual correction value is used twice per engine cycle. JP-A-519585 discloses an apparatus for detecting occurrence of misfire in a multicylinder internal combustion engine detects a rotational speed of the engine in each expansion stroke of each cylinder, calculates a change of the engine rotational speed fluctuation quantity in accordance with a value of the detected rotational speed, and sets a misfire determination value for each cylinder based upon a determination result of the engine operating condition. Misfire determination is made for each cylinder based upon the misfire determination value for each cylinder and the change of the rotational speed fluctuation quantity, thereby elevating the accuracy of detecting occurrence of misfire in each cylinder. The second problem, subject of the present invention, is that even under normal operation conditions the crankshaft will produce different amounts of speed-up and slow-down because of the non-rigid (torsional) behaviour of the crankshaft. Since the crankshaft is not rigid, it produces subtle oscillations (due to crankshaft flexing) in the PIP signal (systematic "noise"). This noise tends to camouflage true misfires and can cause an erroneous indication of one or more cylinders as having misfired even when engine operation is in fact normal. For example, cylinders at the front of a crankshaft might affect the speed of the crankshaft at the measuring point slightly differently than cylinders at the rear. The effects of crankshaft-torsional-flexing can occur when the power is cut-off (as in the Dosdall et al. patent), because inertial torques produce uneven motions (acceleration). In general, the effects of such torsional variations on the calculated acceleration values are most pronounced at higher engine speeds as manifested in typical engine data. There is no prior technique able to adequately solve the foregoing problems consistent with PIP interval data collections used in misfire detection schemes. Therefore, what is needed is a mechanism that compensates for torsional effects in crankshaft speed calculations to enable accurate misfire detection. The present invention is directed to a method that compensates for systematic irregularities in measured engine velocities caused by torsional flexing in the crankshaft during rotation. This method is defined in claim 1. The measured engine velocities are used for detecting engine misfire in an internal combustion engine. As a result misfire detection accuracy is significantly improved. The present invention compensates for irregularities in "Profile-Ignition-Pick-Up interval" (PIP interval) timing which are systematic with respect to different engine cylinders (i.e., irregularities in PIP timing caused by torsional flexing of the crankshaft is an inherently regular occurrence in normal engines). The present invention is configured to function with a processor unit. In the preferred embodiment, correction factors for each of the n PIP intervals of an engine cycle are generated for each of a multitude of engine operating conditions. Each set of n generated correction factors is stored in a table (a "look-up table" located in a memory unit) and has a corresponding unique address location. This table is typically determined empirically in the calibration of the engine type by a test engine. The correction factors are generated while the test engine is rotated at a fixed steady state operating point with combustion, where the operating point is typically a particular speed and load. The table can then be loaded in memory units of production vehicles. During operation, measured operational parameters from the engine (e.g., a particular speed and load) are used as an address to retrieve correction factors stored in the look-up table. Interpolation is used to retrieve correction factors from the look-up table that do not match an exact address location provided by the measured operational parameters. The correction factors are then applied to a general velocity formula for misfire detection as the production engine functions in real-time in conjunction with a processor. The preferred embodiments of this invention improve the ability of misfire detection systems to distinguish normal operation firings from misfires. The invention will now be described further, by way of example, with reference to the accompanying drawings, in which: Fig. 1 illustrates an example position sensing and velocity measuring system employed by the present invention. Fig. 2 illustrates an alternative embodiment of a position sensing and velocity measuring system employed by the present invention. Fig. 3 is a flow chart illustrating the procedural steps used by a processor to obtain correction factors ( C k ), according to the present invention. Fig. 4A graphically depicts two revolutions of a position encoder during one complete cycle of an example six-cylinder engine, according to the present invention. Fig. 4B illustrates PIP intervals arranged linearly along a time line over an entire engine cycle as shown in Fig. 4A. Fig. 5 is a flow chart illustrating how the torsional correction factors are deployed in a production vehicle having an internal combustion engine. Fig. 6A shows a misfire detection signal calculated without any type of correction to the velocities. Fig. 6B shows the same misfire detection signal of Fig. 6A with some improvement in the signal-to-noise ratio after applying wheel-profile correction factors to the velocities. Fig. 6C shows the same misfire detection signal of Figs. 6A-6B, but applying correction factors to compensate for torsional fluctuations according to the present invention, which provides much greater improvement resulting in the more distinguishable misfire signal. The present invention employs similar sensing apparatus as those used in US-A-5,117,681. A brief overview of these sensing devices is provided below. Fig. 1 illustrates an example position sensing and velocity measuring system employed by the present invention. The engine rotation position sensing system of Fig. 1 includes a rotor 100 including vanes 101, 102, and 103 which rotate with a crankshaft 104 (a three-vane rotor from a 6-cylinder engine is shown in this example). The vanes 101-103 pass between a hall-effect sensor 105 and a permanent magnet 106 to generate a profile ignition pulse (PIP) signal 107 as the crankshaft 104 rotates. Vanes 101-103 are typically arranged to generate a rising edge in the PIP signal 10° before top dead centre (in the preferred embodiment, falling edges 60° before and 60° after top dead centre for a six cylinder engine) of each respective cylinder. The rising edge in the PIP signal actually indicates the approach to top dead centre of two engine cylinders, one of which is approaching a power stroke and one of which is approaching an intake stroke since it takes two full crankshaft rotations to complete an engine cycle. A cylinder identification (CID) sensor 107 is connected to a camshaft 108 for identifying which of the two cylinders is actually on its power stroke. Since camshaft 108 rotates once for every two rotations of crankshaft 104, a CID signal is preferably generated having a rising edge corresponding to the power stroke of cylinder No. 1. A timer 120 receives the PIP signal and the CID signal and measures elapsed time between predetermined engine position locations as determined by the CID and PIP signals (preferably between falling edges of PIP). The elapsed time Δ T i for each velocity measuring interval is output from timer 120 to a velocity calculator 121 where the assumed angular spacing Δ 0 is divided by time Δ T i to provide the velocity value V i . In the preferred embodiment, timer 120 and velocity calculator 121 are parts of firm/software in a processor system ("Processor") 140. Timer 120 and velocity calculator may also be implemented as hardware. A memory device 122 is coupled to processor 140 via a bi-directional bus 123. An alternative embodiment of position sensing apparatus is shown in Fig. 2. A multi-toothed wheel 202 is mounted on an engine for rotation with the crankshaft. A plurality of teeth 204 are disposed along the periphery of wheel 202 at a predetermined angular spacing. A sensor 206 is disposed in a fixed location closely spaced to teeth 204 for sensing when each tooth passes sensor 206. In the preferred embodiment, a missing tooth location 208 is provided on wheel 202 to establish an absolute location reference, e.g., at 90° before top dead centre of cylinder No. 1. Sensor 206 is connected to timer 120 and velocity calculator 121 as described with reference to Fig. 1. However, since the velocity measuring intervals in this embodiment are longer than the spacing of teeth 204, an interval former 210 is disposed between timer 120 and velocity calculator 121 in order to provide the sum of the measured time periods for the consecutive teeth which are included in the particular velocity interval to be measured. As shown in Figs. 1 and 2, timer 120, and velocity calculator 121 and interval former 210 may preferably be implemented in the programmed processor 140. According to the present invention, compensations (correction factors) are made for systematic irregularities arising from true velocity fluctuations of crank-shaft mounted wheels 100, 202 due to the dynamics of the individual cylinders producing torque at differing locations on a flexible crankshaft 104. Fig. 3 is a flow chart illustrating the procedural steps used by processor 140 to obtain correction factors ( C k ). Referring to Fig. 3, in step 302 the engine is rotated at a fixed steady state condition. "Steady state" means that the engine is rotated at a particular speed and load during powered operating conditions, where speed is in Revolutions-Per-Minute (RPM) and load is a percentage of full air charge, which is nominally proportional to torque. For example, it may first be desired to measure the response of the engine at 2000 RPM with a load of 0.50 (where the load is measured as a scale from 0-to-1 of the maximum air charge that the engine is capable of taking-in to create torque). The number of load and speed points selected for generating the look-up table is dependent upon accuracy required of the system and the engine being characterised. Speed and load are the two most important factors that effect torsional effects in the crankshaft 104. However, it is contemplated to employ operational parameters other than speed and load (e.g., spark advance and Exhaust Gas Recirculation (EGR)), which are typically found to effect engine torque, and hence, the degree of torsional flexing of the crankshaft 104. In step 304, a unique set of correction factors, one for each cylinder, is determined for each unique steady state operating point (particular speed and load) from data collected over N complete cycles of a normally operating engine. These correction factors are denoted C k : where k =1 to n , and where n is the number of cylinders in the engine. For purposes of implementation, it is convenient to number cylinders by their position in the engine firing sequence, rather than by cylinder number designation. Thus, C 1 is the correction factor at a given operating condition for cylinder 1, C 2 is the corresponding factor for the next cylinder in firing order, and so forth. The correction factor for the k th cylinder is based on the average ratio of each PIP-interval velocity (denoted V i ) associated with cylinder k , to the average velocity (denoted W i ) over an entire engine cycle substantially centred on the PIP interval. This relationship is graphically depicted in Fig. 4A, which represents two revolutions of a position encoder during one complete cycle 402 of an example six-cylinder engine (where a PIP interval is denoted 404). The six measurement intervals are designated i -3, i -2, i -1, i, i +1, i +2, where a single estimate of the correction factor for interval i is to be determined. The two velocities calculated for each i are the average velocity ( V i ) over the PIP interval 404 (length 120°) and the average velocity ( W i ) over the entire engine cycle 402 (length 720° or calculated over a plurality of engine cycles 402). These intervals are also illustrated in Fig. 4B, showing the PIP intervals 404 arranged linearly along a time line. The ratio of W i over V i during steady-state operation is a measure of the correction factor for the particular cylinder during the i th interval. This measurement must be repeated for many subsequent intervals at the same operating condition, in order to provide repeated measurements of the correction factors for each of the PIP intervals comprising an engine cycle 402. As shown in Fig. 4B, each PIP interval 404 can be measured by its corresponding change in time t i and each entire engine cycle 402 can be measured by its change in time denoted s i . Averaging the results separately for each of n cylinders is performed for data collected over N -cycles according to equation (1.0) to obtain the correction factors: where the restriction of i values in the summation to elements of set S k merely indicates the intervals which are associated with cylinder k . For example, a data set which begins with cylinder 1 would yield a set S 1 = i:i =1, 7, 13, 19, . . . , for a six-cylinder engine. The i values for calculating correction factor C 2 would be the set S 2 = i:i =2, 8, 14, 20. . . , and so forth. It should be noted that W i = 720°/Δ s i and V i = Δ 0 /Δ t i , where  0 = 720°/ n . Substituting these expressions into equation (1.0) yields an alternate but equivalent equation for C k as shown in equation (1.1): Next, in step 306, processor 140 stores correction factors obtained in step 304, in memory 122 as part of a "table of correction factors" also referred to as the "look-up table." The correction factor for each C k (where k =1-to- n ) is written into memory 122 at an address which corresponds to the particular speed and load that the engine is operating. Memory 122 is preferably implemented using random-access memory (RAM), but may be any type of memory used with processors such as DRAM, SRAM, etc. In step 308, an operational parameter (such as speed and/or load), which effects crankshaft torque, is modified to obtain additional correction factors. Steps 304, 306 and 308 are then repeated until the look-up table is complete, which is shown as the "YES" path of decisional step 310. Typically, the more correction factors that are generated and stored in memory 122, the more accurate will be the resulting system. Once these correction factors are determined for each of a multitude of engine operating conditions, an adjustment to the correction factors stored in memory 122 is necessary to remove the contribution attributable to irregularities in the wheel interval spacings on the encoder wheel 100, 202 of the test engine as described in the Dosdall et al . patent. Thus, each of the correction values in the table must be divided by the appropriate wheel correction faction as described in the Dosdall et al . patent. The reason that the effect of wheel irregularity on the correction factors must be removed is to ensure that only the effects of torsional fluctuations of the crankshaft remain in the table of correction factors 122. This is necessary since the subtle irregularities in encoder wheels 100, 202 may vary from instance-to-instance in production, and can in fact be determined on an individual engine basis by a single coast-down test described in the Dosdall et al . patent. In contrast, the pattern of torsional fluctuation at each speed and load is mostly a function of the engine design, and can be characterised in a table of correction factors in memory 122 having calibrated correction values. For adjustments to the torsional correction table in memory 122 to be attempted dynamically on each individual engine in the above manner would require a priori knowledge that data was being gathered from a normally operating (non-misfiring) engine, which is a difficult assumption to make under uncontrolled field conditions. And since the misfire detection process relies on these correction factors to assure more accurate misfire detection at higher engine speeds, reliance on such a misfire detection process to ensure normal operation during data collection would not be supported. Thus, the table of correction factors 122 is determined empirically in the calibration of the engine type by a test engine (or through simulation, if sufficiently sophisticated). Once the look-up table in memory 122 is complete, it can be implemented in production vehicles. This look-up table of memory 122 allows corrections factors C k to be determined for each engine operating condition. For instance, if the engine were operating at 2000 RPM at a load of 0.25, these two operating parameters would be used as an index (or address) (via bus 123 shown in Figs. 1 and 2) to the look-up table of memory 122 (the load input to bus 123 is not shown in Figs. 1 and 2). The output, via bus 123, of the look-up table would be the correction factors C k corresponding to the operating conditions of 2000 RPM at a load of 0.25. Interpolation can be used to estimate each of n correction factors from the nearest adjacent points in the look-up table of memory 122, if the operational parameters do not exactly match the indexed value in the look-up table of memory 122. Deployed in production vehicles, the table of torsional correction factors are utilised in conjunction with the set of correction factors for the wheel to obtain corrected velocity measurements V' i of an engine. Fig. 5 is a flow chart illustrating how the torsional correction factors are deployed in a production vehicle having an internal combustion engine. Referring to Fig. 5, in step 502, the engine is rotated at a particular speed and load according to driving conditions typically encountered by a production vehicle in day-to-day use. In step 504, each new speed and load of the engine is measured as described above. In step 506, the speed and load values are employed as an input to memory 122 via bus 123 to retrieve a corresponding correction factor(s) from memory 122. It is not necessary to retrieve new correction factors every PIP interval, however, the system is generally more accurate if the correction factors are updated in a timely fashion. In step 508, the on-board computer (processor 140) calculates the set of n torsional correction factors appropriate for that operating condition by performing a two-dimensional interpolation of the values in the table of correction factors to the nearest operating point (referred to as C k *, k = 1 to n , where * implies the interpolated results from the table). Then, in step 510, the correction factor C k * obtained in step 508 from memory 122 is employed by the processor 140 to obtain the corrected velocity V i . Equation (3.0) shows one possible expression to calculate the corrected velocity: V ' i = C k * B k V i where: V i is the uncorrected velocity for the i th interval, B k is the wheel profile correction factor (as described in the Dosdall et al . patent), and C k * is the current value of the torsional correction factor, and k is the cylinder number associated with the i th interval. Many alternative functions can be devised to obtain the corrected velocity. For example, after the wheel correction factors B k are determined in a particular engine, a new table of values C k '= C k · B k can be formed and used in place of the table of C k , thus combining these two correction factors into one table, thereby eliminating one extra multiplication at each subsequent velocity determination. Likewise, other mathematical variants can be employed to derive correction factors from engine data. For example, an alternative method of deriving the C k is to perform a least squares fit of the corrected PIP-interval velocities to the cycle-average velocities. In other words, choose the C k so as to minimise an error defined in equation (1.3) as: Well known techniques for setting δ E /δ C k equal to zero yield the alternative formula for C k as follows in equation 1.4: In fact, it can be shown that equation (1.0) is equivalent to a least squares fit of the relative velocity differences, with the error defined by equation 1 .5: Applying the methodology of the present invention yields an effective system for removing systematic irregularities caused by torsional flexing in the crankshaft 104. The effectiveness of the present invention is illustrated by the example depicted in Figs. 6A-6C, which show traces of Deviation Acceleration ( DACCEL ) determined from the PIP interval times of a six-cylinder engine operating at about 4000 rpm at light load. DACCEL is a fundamental detection parameter (sometimes referred to as "accel. deviation") (described in U.S. Patents 5,095,742 to James et al . 5,044,194 to James et al ., 5,044,195 to James et al . and 5,109,695 to James et al .) closely related to the acceleration of the crankshaft as manifest by changes in the PIP-interval velocities V i . Fig. 6A shows DACCEL calculated without any type of correction to V i . The regular occurrences of misfire induced throughout the file are only marginally visible above the noise at this engine speed and load. Occurrences of misfire may be determined from the K-COIL signal 602 (shown below the DACCEL trace in Figs. 6A-6C), which records instances of intentional misfire creation (shown as a vertical spike 604). Fig. 6B shows some improvement in the signal-to-noise ratio over the same points after applying wheel-profile correction factors to the velocities, as described in the Dosdall et al . patent. Correction for profile errors yields only a modest improvement in signal quality in this case, because the wheel on the engine used to generate this data was fairly accurate. However, applying correction factors to compensate for torsional fluctuations as described above provides much greater improvement, resulting in the more distinguishable misfire signal as shown in Fig. 6C according to the present invention. Tests at other speed and load points yield similar improvements, but with slightly different correction parameters on account of the differing torsional effects. As explained above, a look-up table in memory 122 can be created to allow interpolation of the proper correction at each speed and load point, while the engine rotates. Alternative forms of compensation for wheel irregularities or torsional effects exist which can be shown to be mathematically equivalent to the multiplicative corrections explained above. For instance, acceleration values calculated from uncorrected velocities can be modified by additive corrections, D k as in equation (2.0): A i = A i + D k where, to a very good approximation, these corrections are related to the multiplicative correction factors C k according to equation (2.1): D k = V 2 i Δ 0 ( C k ≠1 - C k ) where the Δ 00 is the angular spacing between points on the encoder wheel. Even though these corrections to acceleration are additive, not multiplicative, equation (2.1) shows that the D k values have a strong dependence on engine speed, through the term V i 2 , even if factors C k are independent of speed (as in the case of wheel profile correction). As a result, it is preferred to apply correction in the calculation of velocity instead of acceleration. However, either method will accomplish the task of correction for effects which diminish the signal quality of misfire detection by crankshaft speed fluctuations.

Claims: A method to compensate, during operation of an internal combustion engine, for torsional disturbances in measured crankshaft velocities to obtain a corrected crankshaft velocity, said internal combustion engine with a plurality of cylinders being installed in a production vehicle , said production vehicle also having a look-up table in a memory device coupled to a processor, said look-up table having a plurality of torsional correction factors, which were generated off-line and stored in the memory device, as well as a wheel profile correction factor, said method comprising the steps of: rotating the engine at a particular speed and load; measuring the speed and load of the engine; retrieving torsional correction factors from the look-up tables corresponding to the particular speed and load; retrieving the wheel profile correction factor from the look-up tables corresponding to the particular internal combustion engine for which it was generated; and calculating the corrected velocity of the engine by utilising said torsional correction factor and said wheel profile correction factor. A method as claimed in claim 1, wherein said step of retrieving said torsional correction factor from the look-up table comprises the step of performing multi-dimensional interpolations to obtain correction factors corresponding to the measured speed and load. A method as claimed in claim 1, wherein said step of calculating the corrected velocity of the engine involves applying the following formula: V' i =C k *B k V i where: V i is the uncorrected velocity for the i th interval of a particular cylinder firing, B k is the wheel profile correction factor, and c k * is the current value of the torsional correction factor obtained from the look-up table, and k is the cylinder number associated with the i th interval.

Inventors: JAMES JOHN VICTOR, JAMES, JOHN VICTOR
Applicants: FORD FRANCE, FORD MOTOR CO, FORD WERKE AG, FORD FRANCE S. A., FORD MOTOR COMPANY LIMITED, FORD-WERKE AKTIENGESELLSCHAFT
Application year: 1994
Main classification: F02D41
IPC codes: F02D41, G01M15, F02D45, F02P7